相关论文: Comparison of camera-based and 3D LiDAR-based loop…

Reliable curb detection is critical for safe autonomous driving in urban contexts. Curb detection and tracking are also useful in vehicle localization and path planning. Past work utilized a 3D LiDAR sensor to determine accurate distance…

This paper presents a lidar-only state estimation and tracking framework, along with a roadside sensing unit for integration with existing urban infrastructure. Urban deployments demand scalable, real-time tracking solutions, yet…

In this article, we propose a novel LiDAR and event camera fusion modality for subterranean (SubT) environments for fast and precise object and human detection in a wide variety of adverse lighting conditions, such as low or no light,…

Autonomous operation of UAVs in a closed environment requires precise and reliable pose estimate that can stabilize the UAV without using external localization systems such as GNSS. In this work, we are concerned with estimating the pose…

Although traditional cameras are the primary sensor for end-to-end driving, their performance suffers greatly when the conditions of the data they were trained on does not match the deployment environment, a problem known as the domain gap.…

LiDAR odometry can achieve accurate vehicle pose estimation for short driving range or in small-scale environments, but for long driving range or in large-scale environments, the accuracy deteriorates as a result of cumulative estimation…

LiDAR-based SLAM system is admittedly more accurate and stable than others, while its loop closure detection is still an open issue. With the development of 3D semantic segmentation for point cloud, semantic information can be obtained…

This paper studies 3D LiDAR mapping with a focus on developing an updatable and localizable map representation that enables continuity, compactness and consistency in 3D maps. Traditional LiDAR Simultaneous Localization and Mapping (SLAM)…

Calibrating the extrinsic parameters of sensory devices is crucial for fusing multi-modal data. Recently, event cameras have emerged as a promising type of neuromorphic sensors, with many potential applications in fields such as mobile…

While 3D LiDAR sensor technology is becoming more advanced and cheaper every day, the growth of digitalization in the AEC industry contributes to the fact that 3D building information models (BIM models) are now available for a large part…

In this paper, we present a factor-graph LiDAR-SLAM system which incorporates a state-of-the-art deeply learned feature-based loop closure detector to enable a legged robot to localize and map in industrial environments. These facilities…

As various 3D light detection and ranging (LiDAR) sensors have been introduced to the market, research on multi-session simultaneous localization and mapping (MSS) using heterogeneous LiDAR sensors has been actively conducted. Existing MSS…

Event cameras do not produce images, but rather a continuous flow of events, which encode changes of illumination for each pixel independently and asynchronously. While they output temporally rich information, they lack any depth…

Gated imaging is an emerging sensor technology for self-driving cars that provides high-contrast images even under adverse weather influence. It has been shown that this technology can even generate high-fidelity dense depth maps with…

Object detection is a core component of perception systems, providing the ego vehicle with information about its surroundings to ensure safe route planning. While cameras and Lidar have significantly advanced perception systems, their…

Robust 3D object detection in adverse weather is highly challenging due to the varying reliability of different sensors. While existing LiDAR-4D radar fusion methods improve robustness, they predominantly rely on fixed or weakly adaptive…

In the past ten years, the use of 3D Time-of-Flight (ToF) LiDARs in mobile robotics has grown rapidly. Based on our accumulation of relevant research, this article systematically reviews and analyzes the use 3D ToF LiDARs in research and…

LiDAR-camera fusion is one of the core processes for the perception system of current automated driving systems. The typical sensor fusion process includes a list of coordinate transformation operations following system calibration.…

Safety and reliability are crucial for the public acceptance of autonomous driving. To ensure accurate and reliable environmental perception, intelligent vehicles must exhibit accuracy and robustness in various environments. Millimeter-wave…

Despite significant progress in autonomous navigation, a critical gap remains in ensuring reliable localization in hazardous environments such as tunnels, urban disaster zones, and underground structures. Tunnels present a uniquely…